Materials handling device

ABSTRACT

An articulated device for use with apparatus for handling materials, in which a radial arm on a drive shaft is connected remote from the drive shaft to a second arm by a member pivotally interconnected to both arms. Intermeshing gears are fixed one to each arm and the member is also connected to a fixed base by means such as a rod parallel to the first arm, whereby the member and the second arm are moved angularly proportional to the angular movement of the first arm.

Aug. 7, 1973 Haincr ct MATERIALS HANDLING DEVICE Primary Examiner-MiltonKaufman Attorney-Westell & Hanley a d a n a rC m, k m Fa km O n mu Mm mmC t 6 WP 0 t n e v n l V 7 [73] Assignee: Fisher Gauge Limited,Peterborough, Canada June 11, 1971 [22] Filed:

ABSTRACT [21] Appl. No.: 152,343

[30] Foreign Application Priority Data An articulated device for usewith apparatus for han- Sept. 11, 1970 Great Britain...................

dling materials, in which a radial arm on a drive shaft is connectedremote from the drive shaft to a second arm by a member pivotallyinterconnected to both arms. lntermeshing gears are fixed one to eacharm and the member is also connected to a fixed base by means such as arod parallel to the first arm, whereby the member and the second arm aremoved angularly proportional to the angular movement of the first arm.

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UNITED STATES PATENTS 10 Drawing Figures 14 Claims,

PATENTED W3 7 SHEEI 1 OF 4 INVENTOR'. WILLIAM FREDERICK FISHER PAIENTELA'J'S 7 I975 SHEET 2 (IF 4 FIG. 4

INVENTOR. WILLIAM FREDERICK FISHER PATENTEb 3.750.490

sum 3 0F 4 INVENTOR.

WILLIAM FREDERICK FISHER 18 FIG. 10 mdw #44 PAIENIEU MI; 1 ms SIIEEI 0F4 INVENTOR. WILLIAM FREDERICK FISHER MATERIALS HANDLING DEVICE Thepresent invention relates to the handling of materials and moreparticularly to the transfer of materials such as articles from onelocation to another.

In devices for transferring articles or objects from one location toanother, for instance in the operation of an automated assembly line, itis necessary for the device to be extensible to reach the article,retractable with the article, and again extensible to deposit thearticle in a different location. A device commonly used in thisoperation is a multiple parallelogram or lazytongs" which has anextended reach. The disadvantage of such devices in their lack ofcompactness when collapsed and their lack of adaptability to providedifferent predetermined paths of movement of the handled article withoutthe aid of additional equipment.

It is an object of the present invention to provide an improved device,for transferring materials from one position to another, which iscompact, simply constructed, and easily adaptable to differing requiredpaths of movement of the materials being handled.

Example embodiments of the invention are shown in the accompanyingdrawings in which:

FIG. 1 is a side view of a handling device;

FIG. 2 is a view in cross-section taken along the line 2-2 of FIG. 1;

FIG. 3 is an end view taken along the line 33 of FIG. 1;

FIG. 4 is a view taken along the line 44 of FIG. 1;

FIG. 5 is a fragmentary side view showing an alternative embodiment ofthe invention;

FIG. 6 is a view taken along the line 6--6 of FIG. 5;

FIG. 7 is a schematic diagram showing the operation of the device shownin FIGS. 5 and 6;

FIG. 8 is a side view showing a modification of the device seen in FIGS.5 and 6;

FIG.9 is a view in cross-section taken along the line 9-9 of FIG. 8; and

FIG. 10 is a plan view, partly in cross-section, showing a furtherembodiment of the invention.

The embodimentshown in FIGS. 1 to 4 of the drawings consists of ahandling device having an extensible unit 10 comprising a pair of arms11 and 12 articulated one with the other. Arm 11 is keyed at one end toa transverse drive shaft 13 which is angularly movable about its axis bymeans of a suitable driven mechanism (not shown) mounted on a frame 18.The other end of arm 11 is pivotably connected to a member in the formof a block 14 by a transverse pin 15 which is fixed to the arm andjournalled in the block, as seen in FIG. 2. A bar 16 is located parallelto arm 11, oneend of the bar being pivotably connected by a transversepin 17 to frame 18 and the other end being pivotably connected by atransverse pin 19 to block 14. Bar 16 is pivotably connected to formwith arm 11 a parallelogram. One end of arm 12 is similarly pivotablyconnected to block 14 by a transverse pin 20 fixed to the arm andjournailed in the block. The free end of arm 12 remote from the block ispivotably connected to the casing 31 of an element in the form ofagripping unit 30 by a pin 21 transversely fixed to the frame andjournalled in arm 12. A bar 22 is pivotably connected at one end by atransverse pin 23 to block 14 and at the other end by a transverse pin24 to gripping unit 30 and positioned to form with arm 12 aparallelogram. A pair of intermeshing spur gears 25 and 26 are fixed,co-axially with pins 15 and 20, to the ends of arms 11 and 12respectively.

Gripping unit 30 comprises a casing 31 housing a rack 32 actuated by anhydraulic cylinder 33 and engaging a pinnion 34 which is keyed to ashaft 35 carrying a radial arm 36 outside the casing. That end portionof radial arm 36 remote from shaft 35 carries a grip assembly 37comprising a pair of grips 38 radially mounted on a shaft 39 fired toarm 36 and slidable along the shaft by hydraulic jack 40 interconnectingthe grips.

In the operation of the embodiment shown in FIGS. 1 to 4 of thedrawings, gripping unit 30 is moved in a plane normal to shaft 13 by theangular movement of the shaft about its axis. Because of the pivotableconnection of bar 16 with block 14 and frame 18, the block does notrotate as it moves in a circular are about shaft 13, Le, the blockremains oriented with respect to any plane through shaft 13. Since gear25 is meshed with gear 26 and block 14 does not rotate about its ownaxis, the movement of arm 11 about shafts 13 will cause arm 12 to rotateabout the axis of pin 20, altering the angular relationship between arms11 and 12. Finally, because of the pivotal connection between block 14and gripping unit 30, through bar 22, the gripping unit will not rotateabout the axis of pin 21 as arm 12 rotates about the axis of pin 20.

A workpiece 50 is shown chain-dotted in relation to gripping unit 30.The angular movement of shaft 13 about its axis in a counter-clockwisedirection as seen in FIG. 1 causes workpiece 50 to be moved in thedirection of arrow 51 to a new position such as that shown in dottedlines and indicated by numeral 30a. The precise path of movement ofworkpiece 50 and gripping unit 30 depends upon the ratio between thelengths of arms 11 and 12 and also upon the ratio between gears 25 and26..Workpiece 50 may also be moved in a plane parallel to shaft 13 byactuation of cylinder 33 in the direction of arrows 52 and 53 as seen inFIG. 3 of the drawings; Articulated unit 10 together with gripping unit30 may be swivelled in a horizontal plane by journally mounting frame 18and the driving mechanism for shaft 13 on a vertical shaft fixed to afixed base 54 (shown dotted in FIG. 1), or the whole unit may be movedlaterally along the axis of shaft 13, for instance by sliding the shaftand frame 18 along base 54.

In the embodiment shown in FIGS. 5 to 7 of the drawings, sprocket chains60 and 61 are employed in substitution for connecting bars 16 and 22 ofthe embodiment shown in FIGS. 1 to 4 of the drawings. As seen in FIG. 6,a sprocket 62 is fixed on frame 18 concentric with shaft 13 and afurther sprocket 63 is fixed co-axially on a pin 64 which is fixed atone end to a flange 65 depending from block 14 and at the other end isjournalled in arm 11 co-axially with gear 25. Similarly, a sprocket 66is fixed on transverse pin 21 journalled in arm 12 and a furthersprocket 67 is fixed coaxially on a pin 68 fixed at one end to a flange69 depending from block 14 and at the other end journalled in the endportion of arm 12 co-axial with gear26. For simplicity gripping unit 30is shown diagrammatically in FIG. 6.

The operation of the embodiment shown in FIGS. 5 to 7 of the drawings isthe same as that of the embodiment shown in FIGS. 1 to 4, chains 60 and61 performing the functions of bars 16 and 22. As drive shaft 13 isrotated, fixed sprockets 62 and 63 coupled by chain 60 keep block 14parallel to a fixed datum line, block 14 rotating, with respect to arm11, about the axis of pin 64. This causes intermeshed gears 25 and 26 torotate arm 12 angularly in relation to arm 11. Again, sprockets 66 and67 coupled to chain 61 cause gripping unit 30 to rotate about the axisof pin 21 with respect to arm 12. The movement of gripping unit 30 isshown schematically in FIG. 7 of the drawings where it will be seen thatthis embodiment allows arms 11 and 12 to cross one another enabling theworkpiece to be transferred laterally a distance up to twice thecombined lengths of arms 11 and 12.

In the embodiment shown in FIGS. 8 and 9 of the drawings, a frame in theform of a pair of plates 70 are substituted for block 14 and itsdepending flanges 65 and 69, allowing gripping unit 30 to be movedacross the longitudinal axis of arm 11 as seen in FIG. 8. Plates 70 areconnected by two bolts 71 and 72 which are equivalent to pins 64 and 68in the previous embodiment. Sprockets 63 and 67 are fixed to one ofplates 70 while gears 25 and 26, fixed to arms 1 l and 12 respectively,are annular to give clearance for pins 71 and 72 which are journalled inthe arms. Again, gripping unit 30 has been represented diagrammaticallyfor simplification.

In the embodiment of the invention shown in FIG. of the drawings, arm 11carries a fixed bevel gear 80 which is co-axial with a further bevelgear 81 fixed to arm 12. Both gears 80 and 81 are engaged by a pair ofopposed planetary gears 82 each of which is fixed on a shaft 83journalled co-axially in a cruciform member 84. An axle 85 perpendicularto shaft 83 is fixed in member 84 and journalled in arms 11 and 12co-axially with gears 80 and 81. Sprockets 63 and 67 are fixedconcentrically on the ends of axle 85. Bevel gears 80 and 81 togetherwith planetary gears 82 comprise a member in the form of a differentialgear arrangement 86.

The operation of the embodiment shown in FIG. 10 of the drawings is thesame as that of the embodiments shown in FIGS. 5 to 9. As shaft 13 isturned about its axis and arm 11 is moved angularly about shaft 13,differential 86 moves arm 12 angularly in relation to arm 11 while thelinkage employing chains 60 and 61 maintains gripping unit 30 orientedwith respect to any plane of shaft 13. Of course by altering the size ofany one or more of sprockets 62, 63, 66 and 67 the orientation ofgripping unit 30 may be changed as shaft 13 is turned.

It will be appreciated that for each of the described embodimentsworkpiece 50 and unit 10 may be moved in the manner described withrespect to that of FIGS. 1 to 4 of the drawings. In addition, theorientation of workpiece 50 in relation to any plane through shaft 13,i.e., the angle of block 14 as it is moved, may be varied by modifyingone or both of the parallelograms formed by arm 11 and bar 16 or arm 12and bar 22, and to produce a similar result the ratios of sprockets 62,63, 66 and 67 could be modified by changing their diameters.

I claim:

1. An articulated device for use with apparatus for handling materials,comprising: v

a drive shaft mounted on a frame;

a first radial arm fixed on the drive shaft and movable angularlythereby;

a second arm pivotally connectedto the first arm radially on a secondshaft which is parallel to the drive shaft;

a pair of bevel gears fixed one on each of the first and second arms andco-axial with the second shaft,

a pair of planetary gears intermeshing with the bevel gears; and

means interconnecting the frame and the second shaft and adapted to movethe second shaft angularly proportional to the angular movement of thefirst arm.

2. A device as claimed in claim 1 including an element pivotallyconnected to the second arm on a third shaft parallel to the secondshaft and remote therefrom, and

means interconnecting the second and third shafts and adapted to movethe element angularly about the third shaft proportional to the angularmovement of the second arm.

3. An articulated device for use with apparatus for handling materials,comprising:

a first arm angularly movable about a first transverse axis;

a member pivotally connected to the first arm on a second transverseaxis;

a second arm pivotally connected to the member on a third transverseaxis and angularly movable with respect to the first arm;

means to move the member, on movement of the first arm, pivotally on thesecond axis about the first arm and angularly proportional to themovement of the first arm;

means to move the second arm, on movement of the first arm, pivotally onthe third axis about the member and angularly proportional on themovement of the first arm;

an element pivotally connected to the second arm on a fourth transverseaxis and means to move the element, on movement of the second arm,pivotally on the fourth axis about the second arm and angularlyproportional to the movement of the second arm, the means to move theelement comprising a rod pivotally connected ,to the member and to theelement to form with the second arm a parallelogram.

4. An articulated device for use with apparatus for handling materials,comprising:

a first arm angularly movable about a first transverse axis;

a shaft member pivotally connected to the first arm on a secondtransverse axis;

a second arm pivotally connected to the shaft member on the secondtransverse axis and angularly movable with the first arm;

an endless band looped non-rotatably about the first transverse axis andsecond rotatably about the transverse axis whereby on movement of thefirst arm the shaft member moves pivotally on the second transverse axisabout the first arm and angularly proportional thereto; and

a pair of opposed co-axial bcvcl gears one fixed to the first arm andone fixed to the second arm, a pair of planetary gears intermeshing withthe pair of bevel gears, the planetary gears being carried by the shaftmember and freely journalled thereon.

5. A device as claimed in claim 4 including an element pivotallyconnected to the second arm on a third transverse axis on the second armand means to move the element, on movement of the second arm, pivotallyon the third transverse axis about the second arm and angularlyproportional thereto, the means to move the element comprising a furtherendless band looped about the second and third transverse axes, thefurther endless band being non-rotatable about the second transverseaxis and being rotatable together with the element about the thirdtransverse axis.

6. A device as claimed in claim 5 in which the first and second endlessbands are chains engaging pairs of sprocketsco-axial each with one ofthe transverse axes.

7. A device as claimed in claim 6 in which the member comprises a framehaving two of said sprockets fixed thereon and journalled in the firstand second arms respectively.

8. An articulate device for use with apparatus for handling materials,comprising:

a drive shaft mounted on a frame;

a first radial arm fixed on the drive shaft and movable angularlythereby;

a member pivotally connected to the first arm on a second shaft which isparallel to the drive shaft and remote therefrom;

a second arm pivotally connected to the member radially on a third shaftwhich is parallel to the second shaft;

a pair of intermeshing gears fixed one to each of the first and secondarms and coaxial with the second and third shafts respectively; and

means interconnecting the frame and the member and adapted to move themember angularly about the second shaft proportional to the angularmovement of the first arm, said interconnecting means comprising a rodpivotally connected to the member and to a fixed base on which the firstarm is movable, to form with the first arm a parallelogram.

9. An articulated device for use with apparatus for handling materials,comprising:

a drive shaft mounted on a frame;

a first radial arm fixed on the drive shaft and movable angularlythereby;

a member pivotally connected to the first arm on a second shaft fixed tothe member and parallel to the drive shaft and remote therefrom;

a second arm pivotally connected to the member radially on a third shaftfixed to the member and parallel to the second shaft;

21 pair of intermeshing gears fixed one to each of the first and secondarms and coaxial with the second and third shafts respectively; and

means interconnecting the frame and the member and adapted to move themember angularly about the axis of the second shaft proportional to theangular movement of the first arm, said interconnecting means comprisingan endless band looped about the axis of the drive shaft and the axis ofthe second shaft, the endless band being non-rotatable about the axis ofthe drive shaft and being nonrotatable about the second shaft.

10. An articulated device for use with apparatus for handling materials,comprising:

a first arm angularly movable about a first transverse axis;

a member pivotally connected to the first arm on a second transverseaxis;

a second arm pivotally connected to the member on a third transverseaxis and angularly movable with respect to the first arm;

means to move the member, on movement of the first arm, pivotally on thesecond axis about the first arm and angularly proportional to themovement of the first arm, the means to move the member comprising anendless band looped about the first and second transverse axes, theendless band being non-rotatable about the first transverse axis andbeing rotatable together with the member about the second transverseaxis; and

means to move the second arm, on movement of the first arm, pivotallyabout the member and angularly proportional to the movement of the firstarm.

ll. A device as claimed in claim 10in which the endless band is a chainengaging a pair of sprockets one coaxial with each of the first andsecond transverse axes.

12. a device as claimed in claim 10 in which the means to move thesecond arm comprises a pair of intermeshing gears one fixed to the firstarm and one fixed to the second arm.

13. A device as claimed in claim 10 including an element pivotallyconnected to the second arm on a fourth transverse axis on the secondarm and means to move the element, on movement of the second arm,pivotally on the fourth axis about the second arm and angularlyproportional to the movement of the second arm, the means to move theelement comprising:

a further endless bend looped about the third and fourth transverseaxes, the second endless band being non-rotatable about the thirdtransverse axis and being rotatable together with the element about thefourth transverse axis.

14. A device as claimed in claim 13 in which the endless bands arelocated one on each side of the first and second arms with respect tothe member, whereby the second arm is rotatable in a full circle withrespect to the first arm.

i F t

1. An articulated device for use with apparatus for handling materials,comprising: a drive shaft mounted on a frame; a first radial arm fixedon the drive shaft and movable angularly thereby; a second arm pivotallyconnected to the first arm radially on a second shaft which is parallelto the drive shaft; a pair of bevel gears fixed one on each of the firstand second arms and co-axial with the second shaft, a pair of planetarygears intermeshing with the bevel gears; and means interconnecting theframe and the second shaft and adapted to move the second shaftangularly proportional to the angular movement of the first arm.
 2. Adevice as claimed in claim 1 including an element pivotally connected tothe second arm on a third shaft parallel to the second shaft and remotetherefrom, and means interconnecting the second and third shafts andadapted to move the element angularly about the third shaft proportionalto the angular movement of the second arm.
 3. An articulated device foruse with apparatus for handling materials, comprising: a first armangularly movable about a first transverse axis; a member pivotallyconneCted to the first arm on a second transverse axis; a second armpivotally connected to the member on a third transverse axis andangularly movable with respect to the first arm; means to move themember, on movement of the first arm, pivotally on the second axis aboutthe first arm and angularly proportional to the movement of the firstarm; means to move the second arm, on movement of the first arm,pivotally on the third axis about the member and angularly proportionalon the movement of the first arm; an element pivotally connected to thesecond arm on a fourth transverse axis and means to move the element, onmovement of the second arm, pivotally on the fourth axis about thesecond arm and angularly proportional to the movement of the second arm,the means to move the element comprising a rod pivotally connected tothe member and to the element to form with the second arm aparallelogram.
 4. An articulated device for use with apparatus forhandling materials, comprising: a first arm angularly movable about afirst transverse axis; a shaft member pivotally connected to the firstarm on a second transverse axis; a second arm pivotally connected to theshaft member on the second transverse axis and angularly movable withthe first arm; an endless band looped non-rotatably about the firsttransverse axis and rotatably about the second transverse axis wherebyon movement of the first arm the shaft member moves pivotally on thesecond transverse axis about the first arm and angularly proportionalthereto; and a pair of opposed co-axial bevel gears one fixed to thefirst arm and one fixed to the second arm, a pair of planetary gearsintermeshing with the pair of bevel gears, the planetary gears beingcarried by the shaft member and freely journalled thereon.
 5. A deviceas claimed in claim 4 including an element pivotally connected to thesecond arm on a third transverse axis on the second arm and means tomove the element, on movement of the second arm, pivotally on the thirdtransverse axis about the second arm and angularly proportional thereto,the means to move the element comprising a further endless band loopedabout the second and third transverse axes, the further endless bandbeing non-rotatable about the second transverse axis and being rotatabletogether with the element about the third transverse axis.
 6. A deviceas claimed in claim 5 in which the first and second endless bands arechains engaging pairs of sprockets co-axial each with one of thetransverse axes.
 7. A device as claimed in claim 6 in which the membercomprises a frame having two of said sprockets fixed thereon andjournalled in the first and second arms respectively.
 8. An articulatedevice for use with apparatus for handling materials, comprising: adrive shaft mounted on a frame; a first radial arm fixed on the driveshaft and movable angularly thereby; a member pivotally connected to thefirst arm on a second shaft which is parallel to the drive shaft andremote therefrom; a second arm pivotally connected to the memberradially on a third shaft which is parallel to the second shaft; a pairof intermeshing gears fixed one to each of the first and second arms andcoaxial with the second and third shafts respectively; and meansinterconnecting the frame and the member and adapted to move the memberangularly about the second shaft proportional to the angular movement ofthe first arm, said interconnecting means comprising a rod pivotallyconnected to the member and to a fixed base on which the first arm ismovable, to form with the first arm a parallelogram.
 9. An articulateddevice for use with apparatus for handling materials, comprising: adrive shaft mounted on a frame; a first radial arm fixed on the driveshaft and movable angularly thereby; a member pivotally connected to thefirst arm on a second shaft fixed to the member and parallel to thedrive shaft and remote therefrom; a second arm pivotally connected tothe member radially on a third shaft fixed to the member and parallel tothe second shaft; a pair of intermeshing gears fixed one to each of thefirst and second arms and coaxial with the second and third shaftsrespectively; and means interconnecting the frame and the member andadapted to move the member angularly about the axis of the second shaftproportional to the angular movement of the first arm, saidinterconnecting means comprising an endless band looped about the axisof the drive shaft and the axis of the second shaft, the endless bandbeing non-rotatable about the axis of the drive shaft and beingnon-rotatable about the second shaft.
 10. An articulated device for usewith apparatus for handling materials, comprising: a first arm angularlymovable about a first transverse axis; a member pivotally connected tothe first arm on a second transverse axis; a second arm pivotallyconnected to the member on a third transverse axis and angularly movablewith respect to the first arm; means to move the member, on movement ofthe first arm, pivotally on the second axis about the first arm andangularly proportional to the movement of the first arm, the means tomove the member comprising an endless band looped about the first andsecond transverse axes, the endless band being non-rotatable about thefirst transverse axis and being rotatable together with the member aboutthe second transverse axis; and means to move the second arm, onmovement of the first arm, pivotally about the member and angularlyproportional to the movement of the first arm.
 11. A device as claimedin claim 10 in which the endless band is a chain engaging a pair ofsprockets one co-axial with each of the first and second transverseaxes.
 12. a device as claimed in claim 10 in which the means to move thesecond arm comprises a pair of intermeshing gears one fixed to the firstarm and one fixed to the second arm.
 13. A device as claimed in claim 10including an element pivotally connected to the second arm on a fourthtransverse axis on the second arm and means to move the element, onmovement of the second arm, pivotally on the fourth axis about thesecond arm and angularly proportional to the movement of the second arm,the means to move the element comprising: a further endless band loopedabout the third and fourth transverse axes, the second endless bandbeing non-rotatable about the third transverse axis and being rotatabletogether with the element about the fourth transverse axis.
 14. A deviceas claimed in claim 13 in which the endless bands are located one oneach side of the first and second arms with respect to the member,whereby the second arm is rotatable in a full circle with respect to thefirst arm.